Algorithms multiconnection position-trajectory control of mobile objects

Abstract

Algorithms multiconnection position-trajectory control of mobile objects

Pshikhopov V.Kh., Medvedev M.Yu., Fedorenko R.V., Gurenko B.V., Chufistov V.M., Shevchenko V.A.

Incoming article date: 27.10.2014

The paper considers the algorithms of position-trajectory control of mobile objects, are automatically distributed control forces and moments on the actuator. The basic control law is based on the equations of kinematics and dynamics and method of position-trajectory control of mobile objects. We consider the distribution of control forces and moments on the basis of pseudo-inverse matrix, which provides minimum MSE. This approach does not provide for preliminary separation of control channels, as is customary in classical systems of mobile objects. The proposed method is applied to the control system of aeronautical complex. The cases of excessive and insufficient number of control channels. The results of the simulation.

Keywords: position-trajectory control, a multiply, actuators, mobile object